Search results for " Kinematics"
showing 10 items of 109 documents
Astrometric detection of a low-mass companion orbiting the star AB Doradus
1997
International audience; We report submilliarcsecond-precise astrometric measurements for the late-type star AB Doradus via a combination of VLBI (very long baseline interferometry) and HIPPARCOS data. Our astrometric analysis results in the precise determination of the kinematics of this star, which reveals an orbital motion readily explained as caused by gravitational interaction with a low-mass companion. From the portion of the reÑex orbit covered by our data and using a revised mass of the primary star (0.76 M _) derived from our new value of the parallax (66.3 mas \ n \ 67.2 mas), we Ðnd the dynamical mass of the newly discovered companion to be between 0.08 and 0.11 If accurate photom…
Complex geometry and kinematics of subsidiary faults within a carbonate-hosted relay ramp
2019
Abstract Minor fault geometry and kinematics within relay ramps is strongly related to the stress field perturbations that can be produced when two major fault segments overlap and interact. Here we integrate classical fieldwork and interpretation of a virtual outcrop to investigate the geometry and kinematics of subsidiary faults within a relay ramp along the Tre Monti normal fault in the Central Apennines. Although the Tre Monti fault strikes parallel to the regional extension (NE-SW) it shows predominant dip-slip kinematics, suggesting a NW-SE oriented extension acting at sub-regional scale (1–10 km). Conversely, the slickenlines collected on the front segment of the relay ramp highlight…
Tracking Control of Networked Multi-Agent Systems Under New Characterizations of Impulses and Its Applications in Robotic Systems
2016
This paper examines the problem of tracking control of networked multi-agent systems with multiple delays and impulsive effects, whose results are applied to mechanical robotic systems. Four kinds of impulsive effects are taken into account: 1) both the strengths of impulsive effects and the number of nodes injected with impulses are time dependent; 2) the strengths of impulsive effects occur according to certain probabilities and the number of nodes under impulsive control is time varying; 3) the strengths of impulses are time varying, whereas the number of nodes with impulses takes place according to certain probabilities; 4) both the strengths of impulses and the number of nodes with imp…
Learning of Cooperative Behaviour in Robot Populations
2016
This paper addresses convergence and equilibrium properties of game theoretic learning algorithms in robot populations using simple and broadly applicable reward/cost models of cooperation between robotic agents. New models for robot cooperation are proposed by combining regret based learning methods and network evolution models. Results of mean-field game theory are employed in order to show the asymptotic second moment boundedness in the variation of cooperative behaviour. The behaviour of the proposed models are tested in simulation results, which are based on sample networks and a single lane traffic flow case study.
Inverse kinematic control of an industrial robot used in Vessel-to-Vessel Motion Compensation
2017
An increased level of complex offshore load handling operations is expected due to an increased amount of floating wind turbines, remote fish farms, and autonomous shipping, and in general more advanced operations to be carried out at sea. A common problem for these applications is that both equipment and personnel have to be transported between two floating vessels at sea. An investigation of the Vessel-to-Vessel Motion Compensation (VVMC) problem may increase the efficiency and safety of such operations in the future. In this paper, a control algorithm has been developed and experimentally tested in the Norwegian Motion Laboratory featuring two Stewart platforms (SPs), an industrial robot…
Assessing the accuracy of industrial robots through metrology for the enhancement of automated non-destructive testing
2016
This work presents the study of the accuracy of an industrial robot KR5 arc HW, used to perform quality inspections of components with complex shapes. Metrology techniques such as laser tracking and large volume photogrammetry were deployed to quantify both pose and dynamic path accuracies of the robot in accordance with ISO 9283:1998. The overall positioning pose inaccuracy of the robot is found to be almost 1 mm and path inaccuracy at 100% of the robot rated velocity is 4.5 mm. The maximum pose orientation inaccuracy is found to be 14 degrees and the maximum path orientation inaccuracy is 5 degrees. Despite of the significant maximum inaccuracies, uncertainty of a robotic scanning applica…
Kinematic synthesis of a new 3D printing solution
2016
Low-cost production of metal parts is a challenge nowadays in the Additive Manufacturing world and new methods are being developed. The MIM technique is an innovative approach for 3D printing. This method requires a machine with suitable kinematics capable of generating the adequate movements. The object of this article is the kinematic synthesis of a 5Dofs robot, based on two PKM machines, for additive manufacturing in order to compliant with the requirements of this new technology. Robot kinematics have been optimized by genetic algorithm in order to cover the required workspace and the design of the robot and outline of the control system are also given.
Interhemispheric inhibition is dynamically regulated during action observation
2016
International audience; It is now well established that the motor system plays a pivotal role in action observation and that the neurophysiological processes underlying perception and action overlaps. However, while various experiments have shown a specific facilitation of the contralateral motor cortex during action observation, no information is available concerning the dynamics of interhemispheric interactions. The aim of the present study was, therefore, to assess interhemispheric inhibition during the observation of others' actions. We designed a transcranial magnetic stimulation (TMS) experiment in which we measured both corticospinal excitability and interhemispheric inhibition, this…
Inverse Kinematics for a 7 DOF Robotic Arm Using the Redundancy Circle and ANFIS Models
2014
In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, ANFIS implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.
Another Approach for Redundancy Resolution of a 7 DOF Robotic Arm
2015
In this paper we have presented a method to solve the inverse kinematics problem of a redundant robotic arm with seven degrees of freedom and a human like workspace based on mathematical equations, Fuzzy Logic implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts were converted into SimMechanics model.